Virtual teaching based on hand manipulability for multi-fingered robots

Kawasaki, Haruhisa; Nakayama, K.; Mouri, Tetsuya; Ito, Shin‐ichi

doi:10.1109/robot.2001.932804

Cited by 12 publications

(6 citation statements)

References 7 publications

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“…Our findings suggest that a simplistic robot avatar might have less task performance [17] than a detailed hand representation. Besides the robotics, VR applications also help the medical area where hand avatars are constantly employed.…”

Section: Discussionmentioning

confidence: 78%

Virtual hand-button interaction in a generic virtual reality flight simulator

Aslandere

Dreyer

Pankratz

2015

2015 IEEE Aerospace Conference

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Flight simulators with a physical mock-up are dependent on the aircraft type and have high costs. In order to overcome high cost issues, a generic virtual reality flight simulator is designed. Virtual buttons are used without a physical mock-up to make the virtual reality flight simulator independent of the aircraft type. The classic virtual hand metaphor is employed to interact with the virtual objects. This paper examines the virtual hand-button interaction in the generic virtual reality flight simulator where no haptic feed-back is provided. The effect of the collision volume of a virtual button during the virtual hand-button interaction is determined. It is concluded that a change in the collision volume within aircraft design limits, does not have a significant impact on the interaction. We also investigate different virtual hand avatars. We find that the accuracy of hand-button interaction depends on the hand avatar rather than the collision volume. Representing a smaller part of the hand avatar results in less efficient interaction. This shows the size and shape of hand avatars plays a major role in the virtual reality simulator design. This finding contributes to the various virtual reality applications which exploit the virtual hand metaphor.

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Section: Discussionmentioning

confidence: 78%

Virtual hand-button interaction in a generic virtual reality flight simulator

Aslandere

Dreyer

Pankratz

2015

2015 IEEE Aerospace Conference

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“…The grasping task in the virtual environment is divided into six segments: move, approach, grasp, translate, place, and release [11]. When the stable grasping conditions in the virtual environment are met, the virtual target object can be grasped stably by the VDR hand.…”

Section: Grasping In the Virtual Environmentmentioning

confidence: 99%

“…The virtual environment is required to possess sufficient verisimilitude. Thus, the virtual force, particularly with regard to tactility, is of vital importance [11]. Wan et al [12] proposed a 4-layer virtual hand model and used the Hooke's law to compute the feedback force according to the intersection results between the haptic layer and the target model.…”

Section: Introductionmentioning

confidence: 99%

Active Grasping Control of Virtual-Dexterous-Robot Hand with Open Inventor

Chen

Han

Zhuang

2014

Mathematical Problems in Engineering

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The grasping technology of the virtual-dexterous-robot (VDR) hand plays a key role in the teleoperation of the space robot. For a grasp task in the virtual environment, the collision detection and virtual force calculation need to be implemented. Firstly, a tree-structure virtual scene including a VDR hand and a target object is built up with open inventor (OIV). Secondly, the collision manager provided by OIV is used for collision detection and the oriented bounding box (OBB) is adopted to improve the real-time performance of collision detection. Thirdly, an algorithm is proposed for calculating the virtual force by using the contact deformation. And the contact deformation is calculated according to the transformation matrix between the coordinate systems of the two contact objects. Furthermore, the contact friction is also calculated by this matrix. Considering the virtual force, the modified stable grasping conditions are proposed which are suitable for the virtual grasping. Then a method is proposed for implementing the grasp or release operation by translating different nodes in the tree-structure scene, which can avoid destroying the tree structure. Finally, the viability and effectiveness of the proposed algorithms are proved by simulation experiments.

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“…The forces generated from grasping an object are displayed to the human hand using the force feedback glove (FFG), as shown in Figure 12 (Kawasaki et al, 2003). The operator attaches the FFG on the backside of the hand, where a force feedback mechanism has 5 servomotors.…”

Section: Force Feed Back Glovementioning

confidence: 99%